| /* |
| $License: |
| Copyright 2011 InvenSense, Inc. |
| |
| Licensed under the Apache License, Version 2.0 (the "License"); |
| you may not use this file except in compliance with the License. |
| You may obtain a copy of the License at |
| |
| http://www.apache.org/licenses/LICENSE-2.0 |
| |
| Unless required by applicable law or agreed to in writing, software |
| distributed under the License is distributed on an "AS IS" BASIS, |
| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| See the License for the specific language governing permissions and |
| limitations under the License. |
| $ |
| */ |
| /******************************************************************************* |
| * |
| * $RCSfile: mlcontrol.h,v $ |
| * |
| * $Date: 2011-06-10 20:13:08 -0700 (Fri, 10 Jun 2011) $ |
| * |
| * $Revision: 5629 $ |
| * |
| *******************************************************************************/ |
| |
| /*******************************************************************************/ |
| /** @defgroup INV_CONTROL |
| |
| The Control processes gyroscopes and accelerometers to provide control |
| signals that can be used in user interfaces to manipulate objects such as |
| documents, images, cursors, menus, etc. |
| |
| @{ |
| @file mlcontrol.h |
| @brief Header file for the Control Library. |
| */ |
| /******************************************************************************/ |
| #ifndef MLCONTROL_H |
| #define MLCONTROL_H |
| |
| #ifdef __cplusplus |
| extern "C" { |
| #endif |
| |
| #include "mltypes.h" |
| #include "ml.h" |
| #ifdef INV_INCLUDE_LEGACY_HEADERS |
| #include "mlcontrol_legacy.h" |
| #endif |
| |
| /* ------------ */ |
| /* - Defines. - */ |
| /* ------------ */ |
| |
| /*******************************************************************************/ |
| /* Control Signals. */ |
| /*******************************************************************************/ |
| |
| #define INV_CONTROL_1 0x0001 |
| #define INV_CONTROL_2 0x0002 |
| #define INV_CONTROL_3 0x0004 |
| #define INV_CONTROL_4 0x0008 |
| |
| /*******************************************************************************/ |
| /* Control Functions. */ |
| /*******************************************************************************/ |
| |
| #define INV_GRID 0x0001 // Indicates that the user will be controlling a system that |
| // has discrete steps, such as icons, menu entries, pixels, etc. |
| #define INV_SMOOTH 0x0002 // Indicates that noise from unintentional motion should be filtered out. |
| #define INV_DEAD_ZONE 0x0004 // Indicates that a dead zone should be used, below which sensor data is set to zero. |
| #define INV_HYSTERESIS 0x0008 // Indicates that, when INV_GRID is selected, hysteresis should be used to prevent |
| // the control signal from switching rapidly across elements of the grid.</dd> |
| |
| /*******************************************************************************/ |
| /* Integral reset options. */ |
| /*******************************************************************************/ |
| |
| #define INV_NO_RESET 0x0000 |
| #define INV_RESET 0x0001 |
| |
| /*******************************************************************************/ |
| /* Data select options. */ |
| /*******************************************************************************/ |
| |
| #define INV_CTRL_SIGNAL 0x0000 |
| #define INV_CTRL_GRID_NUM 0x0001 |
| |
| /*******************************************************************************/ |
| /* Control Axis. */ |
| /*******************************************************************************/ |
| #define INV_CTRL_PITCH 0x0000 // (INV_PITCH >> 1) |
| #define INV_CTRL_ROLL 0x0001 // (INV_ROLL >> 1) |
| #define INV_CTRL_YAW 0x0002 // (INV_YAW >> 1) |
| |
| /*******************************************************************************/ |
| /* control_params structure default values. */ |
| /*******************************************************************************/ |
| |
| #define MLCTRL_SENSITIVITY_0_DEFAULT 128 |
| #define MLCTRL_SENSITIVITY_1_DEFAULT 128 |
| #define MLCTRL_SENSITIVITY_2_DEFAULT 128 |
| #define MLCTRL_SENSITIVITY_3_DEFAULT 128 |
| #define MLCTRL_FUNCTIONS_DEFAULT 0 |
| #define MLCTRL_CONTROL_SIGNALS_DEFAULT 0 |
| #define MLCTRL_PARAMETER_ARRAY_0_DEFAULT 0 |
| #define MLCTRL_PARAMETER_ARRAY_1_DEFAULT 0 |
| #define MLCTRL_PARAMETER_ARRAY_2_DEFAULT 0 |
| #define MLCTRL_PARAMETER_ARRAY_3_DEFAULT 0 |
| #define MLCTRL_PARAMETER_AXIS_0_DEFAULT 0 |
| #define MLCTRL_PARAMETER_AXIS_1_DEFAULT 0 |
| #define MLCTRL_PARAMETER_AXIS_2_DEFAULT 0 |
| #define MLCTRL_PARAMETER_AXIS_3_DEFAULT 0 |
| #define MLCTRL_GRID_THRESHOLD_0_DEFAULT 1 |
| #define MLCTRL_GRID_THRESHOLD_1_DEFAULT 1 |
| #define MLCTRL_GRID_THRESHOLD_2_DEFAULT 1 |
| #define MLCTRL_GRID_THRESHOLD_3_DEFAULT 1 |
| #define MLCTRL_GRID_MAXIMUM_0_DEFAULT 0 |
| #define MLCTRL_GRID_MAXIMUM_1_DEFAULT 0 |
| #define MLCTRL_GRID_MAXIMUM_2_DEFAULT 0 |
| #define MLCTRL_GRID_MAXIMUM_3_DEFAULT 0 |
| #define MLCTRL_GRID_CALLBACK_DEFAULT 0 |
| |
| /* --------------- */ |
| /* - Structures. - */ |
| /* --------------- */ |
| |
| /**************************************************************************/ |
| /* Control Parameters Structure. */ |
| /**************************************************************************/ |
| |
| struct control_params { |
| // Sensitivity of control signal 1, 2, 3, and 4. |
| unsigned short sensitivity[4]; |
| // Indicates what functions will be used. Can be a bitwise OR of INV_GRID, |
| // ML_SMOOT, INV_DEAD_ZONE, and INV_HYSTERISIS. |
| unsigned short functions; |
| // Indicates which parameter array is being assigned to a control signal. |
| // Must be one of INV_GYROS, INV_ANGULAR_VELOCITY, or |
| // INV_ANGULAR_VELOCITY_WORLD. |
| unsigned short parameterArray[4]; |
| // Indicates which axis of the parameter array will be used. Must be |
| // INV_ROLL, INV_PITCH, or INV_YAW. |
| unsigned short parameterAxis[4]; |
| // Threshold of the control signal at which the grid number will be |
| // incremented or decremented. |
| long gridThreshold[4]; |
| // Maximum grid number for the control signal. |
| long gridMaximum[4]; |
| // User defined callback that will trigger when the grid location changes. |
| void (*gridCallback) ( |
| // Indicates which control signal crossed a grid threshold. Must be |
| // one of INV_CONTROL_1, INV_CONTROL_2, INV_CONTROL_3 or INV_CONTROL_4. |
| unsigned short controlSignal, |
| // An array of four numbers representing the grid number for each |
| // control signal. |
| long *gridNum, |
| // An array of four numbers representing the change in grid number |
| // for each control signal. |
| long *gridChange); |
| }; |
| |
| struct control_obj { |
| |
| long gridNum[4]; // Current grid number for each control signal. |
| long controlInt[4]; // Current data for each control signal. |
| long lastGridNum[4]; // Previous grid number |
| unsigned char controlDir[4]; // Direction of control signal |
| long gridChange[4]; // Change in grid number |
| |
| long mlGridNumDMP[4]; |
| long gridNumOffset[4]; |
| long prevDMPGridNum[4]; |
| |
| }; |
| |
| /* --------------------- */ |
| /* - Function p-types. - */ |
| /* --------------------- */ |
| |
| /**************************************************************************/ |
| /* ML Control Functions. */ |
| /**************************************************************************/ |
| |
| unsigned short inv_get_control_params(struct control_params *params); |
| unsigned short inv_set_control_params(struct control_params *params); |
| |
| /*API for handling control signals */ |
| inv_error_t inv_set_control_sensitivity(unsigned short controlSignal, |
| long sensitivity); |
| inv_error_t inv_set_control_func(unsigned short function); |
| inv_error_t inv_get_control_signal(unsigned short controlSignal, |
| unsigned short reset, long *data); |
| inv_error_t inv_get_grid_num(unsigned short controlSignal, |
| unsigned short reset, long *data); |
| inv_error_t inv_set_grid_thresh(unsigned short controlSignal, |
| long threshold); |
| inv_error_t inv_set_grid_max(unsigned short controlSignal, long maximum); |
| inv_error_t |
| inv_set_grid_callback(void (*func) |
| (unsigned short controlSignal, long *gridNum, |
| long *gridChange)); |
| inv_error_t inv_set_control_data(unsigned short controlSignal, |
| unsigned short parameterArray, |
| unsigned short parameterNum); |
| inv_error_t inv_get_control_data(long *controlSignal, long *gridNum, |
| long *gridChange); |
| inv_error_t inv_update_control(struct inv_obj_t *inv_obj); |
| inv_error_t inv_enable_control(void); |
| inv_error_t inv_disable_control(void); |
| |
| #ifdef __cplusplus |
| } |
| #endif |
| #endif /* MLCONTROL_H */ |
